[{"id":0,"parent":2,"joint":"hinge","name":"hand","parts":[{"id":4,"name":"hand","children":[]}],"jointData":{"axis":{"origin":[-0.01868318448607207,-0.019469226660817834,0.11726300000000034],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":2,"joint":"hinge","name":"hand","parts":[{"id":5,"name":"hand","children":[]}],"jointData":{"axis":{"origin":[-0.01868318448607207,-0.019469226660817834,0.11726300000000034],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":-1,"joint":"free","name":"frame","parts":[{"id":3,"name":"frame","children":[]},{"id":6,"name":"surface","children":[]}],"jointData":{}}]